Closed loop smooth steering of unicycle-like vehicles

Within this paper it is shown that, provided a special choice for the system state equations is a priori made, the use of the simplest quadratic form as candidate Lyapunov function, directly leads to the definition of smooth and effective closed loop control laws for unicycle-like vehicles, suitable to be used for steering, path following, and navigation among assigned points. Some considerations about the curvature of the corresponding manoeuvres are also reported